CN112526980A - Remote control method, cockpit, cloud server and automatic driving vehicle - Google Patents
Remote control method, cockpit, cloud server and automatic driving vehicle Download PDFInfo
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Abstract
The disclosure provides a remote control method, a device, a system, equipment and a computer storage medium, and relates to the technical field of artificial intelligence and automatic driving. The specific implementation scheme is as follows: responding to information, forwarded by a cloud end, of a vehicle requesting remote control to a cockpit, and sending an initial control parameter synchronization signal of the cockpit to the cloud end, so that the cloud end sends the initial control parameter synchronization signal to the vehicle to enable the vehicle and the cockpit to perform control parameter synchronization; receiving a time adjusting signal sent by a cloud end, and adjusting the time of a cockpit according to the time signal so as to enable the cockpit and the vehicle to be time-synchronized; sending a control instruction of the cockpit and a timestamp corresponding to the control instruction to the vehicle through a control path between the vehicle and the cockpit so that the vehicle can execute the control instruction; wherein the timestamp is generated according to the adjusted time of the cockpit. The embodiment of the disclosure can improve the driving safety.
Description
Technical Field
The present disclosure relates to the field of computer technology, and more particularly to the field of artificial intelligence and autopilot technology.
Background
With the development of economy and science and technology, vehicles gradually become a travel tool commonly used in daily life of people. Early vehicle driving included only manual driving, and nowadays, driving of a vehicle may be performed by manual driving, automatic driving, or the like.
In the automatic driving process, sudden situations such as bad weather and traffic control can occur, and situations such as intoxication of the driver and the like which are not suitable for driving temporarily can occur in the manual driving, so that a method needs to be provided for dealing with the situations of automatic driving and manual driving so as to improve the driving safety.
Disclosure of Invention
The disclosure provides a remote control method, a cockpit, a cloud server and an automatic driving vehicle.
According to an aspect of the present disclosure, there is provided a remote control method including:
in response to information, forwarded by a cloud, of a vehicle requesting remote control from a cockpit, sending an initial control parameter synchronization signal of the cockpit to the vehicle via the cloud, the initial control parameter synchronization signal being used for synchronization of control parameters between the vehicle and the cockpit;
receiving a time adjusting signal sent by the cloud end, and adjusting the time of the cockpit according to the time signal so as to synchronize the time of the cockpit with the time of the vehicle;
sending the control instruction of the cockpit and a timestamp corresponding to the control instruction to the vehicle through a control path between the vehicle and the cockpit so that the vehicle can execute the control instruction; wherein the timestamp is generated based on the adjusted time of the cockpit.
According to another aspect of the present disclosure, there is provided a remote control method including:
forwarding information that the vehicle requests remote control from the cockpit to the cockpit;
receiving an initial control parameter synchronization signal sent by a cockpit in response to information that a vehicle requests remote control from the cockpit;
sending an initial control parameter synchronization signal to a vehicle, the initial control parameter synchronization signal being used for synchronization of control parameters between the vehicle and a cockpit;
receiving a time signal sent by a vehicle;
transmitting a time signal to a cockpit, the time signal being used for time synchronization between the cockpit and the vehicle.
According to still another aspect of the present disclosure, there is provided a remote control method including:
receiving an initial control parameter synchronization signal of the cockpit forwarded by the cloud, and synchronizing control parameters with the cockpit according to the initial control parameter synchronization signal, wherein the initial control parameter synchronization signal of the cockpit is sent by the cockpit in response to information that a vehicle requests remote control from the cockpit;
sending a time adjustment signal to the cockpit via the cloud, the time adjustment signal for time synchronization between the cockpit and the vehicle;
and receiving a control instruction sent by the cockpit through a control path between the cockpit and the vehicle and a time stamp corresponding to the control instruction so that the vehicle can execute the control instruction according to the time stamp.
According to still another aspect of the present disclosure, there is provided a remote control apparatus including:
the control parameter synchronization signal sending module is used for responding to information, transmitted by a cloud end, of a vehicle requesting remote control to a cockpit, and sending an initial control parameter synchronization signal of the cockpit to the vehicle through the cloud end, wherein the initial control parameter synchronization signal is used for synchronizing control parameters between the vehicle and the cockpit;
the time adjustment signal receiving module is used for receiving a time adjustment signal sent by the cloud end and adjusting the time of the cockpit according to the time signal so as to enable the time synchronization between the cockpit and the vehicle;
the control instruction sending module is used for sending the control instruction of the cockpit and a timestamp corresponding to the control instruction to the vehicle through a control path between the vehicle and the cockpit so that the vehicle can execute the control instruction; wherein the timestamp is generated based on the adjusted time of the cockpit.
According to still another aspect of the present disclosure, there is provided a remote control apparatus including:
the remote control forwarding module is used for forwarding information that the vehicle requests remote control from the cockpit to the cockpit;
the initial control parameter synchronization signal receiving module is used for receiving an initial control parameter synchronization signal sent by a cockpit in response to information that a vehicle requests remote control from the cockpit;
the system comprises an initial control parameter synchronous signal forwarding module, a vehicle control module and a control parameter synchronization module, wherein the initial control parameter synchronous signal forwarding module is used for sending an initial control parameter synchronous signal to a vehicle and sending the initial control parameter synchronous signal to the vehicle, and the initial control parameter synchronous signal is used for synchronizing control parameters between the vehicle and a cockpit;
the time signal receiving module is used for receiving a time signal sent by a vehicle;
the time signal forwarding module is used for sending a time signal to a cockpit, and the time signal is used for time synchronization between the cockpit and the vehicle.
According to still another aspect of the present disclosure, there is provided a remote control apparatus including:
the initial control parameter synchronization module is used for receiving an initial control parameter synchronization signal of the cockpit forwarded by the cloud end and synchronizing control parameters with the cockpit according to the initial control parameter synchronization signal, and the initial control parameter synchronization signal of the cockpit is sent by the cockpit in response to information that a vehicle requests remote control from the cockpit;
a time synchronization module for sending a time adjustment signal to the cockpit via the cloud, the time adjustment signal being used for time synchronization between the cockpit and the vehicle;
and the control module is used for receiving a control instruction sent by the cockpit through a control path between the cockpit and the vehicle and a timestamp corresponding to the control instruction, so that the vehicle can execute the control instruction according to the timestamp.
According to still another aspect of the present disclosure, a remote control system is provided, which includes an information processing device applied to a cockpit, a cloud, and a vehicle.
According to still another aspect of the present disclosure, there is provided an electronic device including:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,
the memory stores instructions executable by the at least one processor to cause the at least one processor to perform a method provided by any one of the embodiments of the present disclosure.
According to yet another aspect of the present disclosure, there is provided a non-transitory computer readable storage medium having stored thereon computer instructions for causing a computer to perform a method provided by any one of the embodiments of the present disclosure.
According to yet another aspect of the present disclosure, there is provided a cockpit comprising:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,
the memory stores instructions executable by the at least one processor to cause the at least one processor to perform a method provided by any one of the embodiments of the present disclosure.
According to another aspect of the present disclosure, there is provided a cloud server, including:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,
the memory stores instructions executable by the at least one processor to cause the at least one processor to perform a method provided by any one of the embodiments of the present disclosure.
According to yet another aspect of the present disclosure, there is provided an autonomous vehicle comprising:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,
the memory stores instructions executable by the at least one processor to cause the at least one processor to perform a method provided by any one of the embodiments of the present disclosure.
According to yet another aspect of the present disclosure, a computer program product is provided, comprising a computer program which, when executed by a processor, implements a method provided according to any one of the embodiments of the present disclosure.
According to the technology disclosed by the invention, the problem of signal transmission in the process of remote parallel driving is solved, the reliability of signal transmission in the process of parallel driving is improved, a vehicle can continue to run by depending on a parallel driving cab under special conditions, and the safety is higher.
It should be understood that the statements in this section do not necessarily identify key or critical features of the embodiments of the present disclosure, nor do they limit the scope of the present disclosure. Other features of the present disclosure will become apparent from the following description.
Drawings
The drawings are included to provide a better understanding of the present solution and are not to be construed as limiting the present disclosure. Wherein:
FIG. 1 is a schematic flow chart diagram of a remote control method according to an embodiment of the present disclosure;
FIG. 2 is a schematic flow chart diagram of a remote control method according to another embodiment of the present disclosure;
fig. 3 is a signal transmission diagram of each signal transceiver involved in the remote control method according to the embodiment of the present disclosure;
FIG. 4 is a schematic flow chart diagram of a remote control method according to another embodiment of the present disclosure;
FIG. 5 is a schematic flow chart diagram of a remote control method according to another embodiment of the present disclosure;
FIG. 6 is a schematic diagram of a control device used in a remote control method according to an example of the present disclosure;
FIG. 7 is a schematic diagram of a remote control device according to an embodiment of the present disclosure;
FIG. 8 is a schematic view of a remote control device according to another embodiment of the present disclosure;
FIG. 9 is a schematic view of a remote control device according to yet another embodiment of the present disclosure;
FIG. 10 is a schematic view of a remote control device according to yet another embodiment of the present disclosure;
FIG. 11 is a schematic view of a remote control device according to yet another embodiment of the present disclosure;
FIG. 12 is a schematic view of a remote control device according to yet another embodiment of the present disclosure;
FIG. 13 is a schematic view of a remote control device according to yet another embodiment of the present disclosure;
FIG. 14 is a schematic view of a remote control device according to yet another embodiment of the present disclosure;
FIG. 15 is a schematic view of a remote control device according to yet another embodiment of the present disclosure;
FIG. 16 is a block diagram of an electronic device for implementing the remote control method of an embodiment of the present disclosure;
fig. 17 is a schematic diagram of an application scenario of a remote control system in which an embodiment of the present disclosure may be implemented.
Detailed Description
Exemplary embodiments of the present disclosure are described below with reference to the accompanying drawings, in which various details of the embodiments of the disclosure are included to assist understanding, and which are to be considered as merely exemplary. Accordingly, those of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the present disclosure. Also, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness.
The embodiment of the present disclosure first provides a remote control method, as shown in fig. 1, including:
step S11: responding to information, forwarded by a cloud, of a vehicle requesting remote control to a cockpit, and sending an initial control parameter synchronization signal of the cockpit to the vehicle through the cloud, wherein the initial control parameter synchronization signal is used for synchronization of control parameters between the vehicle and the cockpit;
step S12: receiving a time adjusting signal sent by the cloud end, and adjusting the time of the cockpit according to the time signal so as to synchronize the time of the cockpit with the time of the vehicle;
step S13: sending the control instruction of the cockpit and a timestamp corresponding to the control instruction to the vehicle through a control path between the vehicle and the cockpit so that the vehicle can execute the control instruction; wherein the timestamp is generated based on the adjusted time of the cockpit.
In this embodiment, the steps of the remote control method shown in fig. 1 may be applied to the cockpit, and executed by the cockpit. The information that the vehicle requests the cockpit for remote control may be a remote control request that the vehicle sends to the cloud. When the vehicle needs to request remote control, the information requesting the remote control of the cockpit can be sent to the cloud end, the cloud end forwards the information to the cockpit, and the cockpit receives the remote control request of the vehicle to perform remote control.
In this embodiment, the initial control parameter of cockpit is sent to the high in the clouds as initial control parameter synchronizing signal with the cockpit for the high in the clouds forwards initial control parameter synchronizing signal to the vehicle.
Specifically, the initial control parameter synchronization signal may be a control parameter related to control in the cockpit, such as steering wheel data, throttle data, brake data, etc. in the cockpit.
The initial control parameter synchronization signal may specifically be a request or an instruction of the synchronization signal, and after the cloud sends the initial control parameter synchronization signal to the vehicle, the vehicle and the cockpit can continue to send the control parameters to each other through the cloud so that the two parties are synchronized.
When the cockpit transmits the initial control parameter synchronization signal, the control path between the cockpit and the vehicle may be in an unconnected state or in an connected state.
In this embodiment, the cockpit receives the time adjustment signal that the high in the clouds was sent to adjust the time of cockpit according to time signal, make cockpit and vehicle carry out time synchronization. The time adjustment signal may be a time adjustment command signal or a specific time value.
The time adjustment signal sent by the cloud end can be sent to the cloud end by a vehicle. The vehicle specifically can send the time signal of oneself to the high in the clouds for the cockpit generates the time adjustment signal according to the vehicle time in the high in the clouds, forwards the time adjustment signal to the cockpit, and the cockpit adjusts the time signal of oneself according to the time signal of vehicle.
In this embodiment, the control command of the cockpit and the timestamp corresponding to the control command are sent to the vehicle by the cockpit through the control path between the vehicle and the cockpit. The timestamp corresponding to the control instruction may be specifically a timestamp generated by the control instruction.
And when the vehicle executes the control command, executing the control command according to the sequence of the timestamps corresponding to the control command.
In a specific implementation, step S11 and step S12 shown in fig. 1 may be executed in any order.
In the embodiment of the disclosure, when a vehicle needs to request remote driving, information requesting remote control for a cockpit can be sent to a cloud terminal, after the cloud terminal forwards the information, the cockpit and the vehicle perform synchronization of control parameters and time, and subsequently, transmission of control signals between the cockpit and the vehicle and response signals of the control signals or necessary signals for driving of other vehicles is performed through a control path between the cockpit and the vehicle, so that remote control of the cockpit on the vehicle can be realized, and before the cockpit directly controls the vehicle, various necessary signals can be transmitted through the cloud terminal, and safety of the remote control is guaranteed.
In one embodiment, as shown in fig. 2, before sending the control command of the cockpit and the timestamp corresponding to the control command to the vehicle, the method further includes:
step S21: and sending verification information for taking over the vehicle control right to the cloud so that the cloud can be connected with the control channel based on the verification information.
In this embodiment, step S21 may be specifically executed by the cockpit, and the verification information may be a specific control command.
The cloud end is connected with the control path based on the verification information, and specifically, the control path between the vehicle and the cockpit is connected after the verification is successful.
In this embodiment, one cockpit corresponds to one vehicle, and a correspondence exists between a control path between the cockpit and the vehicle and a specific cockpit and vehicle, so as to ensure traceability of the authority evidence.
In this embodiment, the control access between vehicle and the cockpit is put through by the high in the clouds, can make the switch-on of control access have the controllability, provides further guarantee to the safety control between cockpit and the vehicle.
In one embodiment, the initial control parameter synchronization signal is a control parameter of a cockpit, and the sending of the initial control parameter synchronization signal of the cockpit to the vehicle via the cloud includes:
and converting the initial control parameter synchronous signal into a format which can be recognized by the vehicle, carrying out serialization processing, and sending the serialized control parameter synchronous signal to the vehicle through a cloud.
In this embodiment, convert the vehicle recognizable format at cockpit one end when initial control parameter synchronizing signal to need not the high in the clouds conversion, can save the operating time in high in the clouds, make the high in the clouds can forward the control parameter of a plurality of cockpit simultaneously.
In one embodiment, after sending the control command of the cockpit and the timestamp corresponding to the control command to the vehicle, the method further includes:
and sending the control instruction and the timestamp to the cloud end, so that the control instruction and the timestamp are backed up by the cloud end.
In this embodiment, the synchronization signal of the initial control parameter of the cockpit is the control parameter of the cockpit, and the control instruction of the cockpit is backed up by the cloud, so that the history of receiving and sending control data of the cockpit to the vehicle can be checked from the cloud when necessary, and reference is provided for processing of special events.
In one embodiment, Internet of Things (IoT) is used for communication between the cloud and the cockpit, between the cloud and the vehicle, and between the cockpit and the vehicle.
Specifically, the signal transmission frequency during communication may be 10100Hz, and specifically, may be 30Hz, for example. Wired network transmission is used between the cloud and the cabin, and 5G network transmission is used between the vehicle and the cabin.
In this embodiment, the cockpit, the vehicle and the high in the clouds adopt the internet of things protocol to communicate between two to the communication protocol of three-terminal is unanimous, can reduce the step of signal conversion.
The embodiment of the present disclosure further provides a remote control method, which can be applied to a cloud, as shown in fig. 4, including:
step S41: forwarding information that the vehicle requests remote control from the cockpit to the cockpit;
step S42: receiving an initial control parameter synchronization signal sent by a cockpit in response to information that a vehicle requests remote control from the cockpit;
step S43: sending an initial control parameter synchronization signal to the vehicle, the initial control parameter synchronization signal being used for synchronization of control parameters between the vehicle and the cockpit;
step S44: receiving a time signal sent by a vehicle;
step S45: a time signal is sent to the cockpit, which is used for time synchronization between the cockpit and the vehicle.
In a specific embodiment, the steps of receiving a time signal sent by a vehicle, sending the time signal to a cockpit, enabling the cockpit to adjust the time of the cockpit according to the time signal so as to perform time synchronization with the vehicle, receiving an initial control parameter synchronization signal sent by the cockpit in response to information that the vehicle requests remote control from the cockpit, and sending the initial control parameter synchronization signal to the vehicle, so as to enable the vehicle and the cockpit to perform control parameter synchronization can be performed in any sequence.
In this embodiment, the high in the clouds is at the driving authority and is confirmed the initial stage, carries out the signal between cockpit and the vehicle and passes through, realizes the transition that the control authority of vehicle and cockpit takes over. Meanwhile, the initial control parameter synchronizing signal and the time signal are transmitted through the cloud, and the safety of the vehicle cabins at the initial signal transmission stage can be guaranteed.
In one embodiment, the method further comprises:
receiving verification information of the control right of the takeover vehicle sent by the cockpit;
and connecting the control channel of the cab and the vehicle based on the verification information.
In a specific implementation process, the steps can be executed by a cloud.
In one embodiment, the remote control method further comprises:
and receiving and storing a control instruction sent by the cockpit and a timestamp corresponding to the instruction.
In a specific implementation process, the steps can be executed by a cloud.
In one embodiment, the internet of things protocol is adopted for communication between the cloud end and the driving control cabin, between the cloud end and the vehicle and between the driving cabin and the vehicle.
In another embodiment of the present disclosure, there is also provided a remote control method, which may be applied to a vehicle controlled by a cockpit, as shown in fig. 5, including:
step S51: receiving an initial control parameter synchronization signal of the cockpit forwarded by the cloud, and synchronizing control parameters with the cockpit according to the initial control parameter synchronization signal, wherein the initial control parameter synchronization signal of the cockpit is sent by the cockpit in response to information that a vehicle requests remote control from the cockpit;
step S52: sending a time adjustment signal to the cockpit via the cloud, the time adjustment signal being used for time synchronization between the cockpit and the vehicle;
step S53: and receiving a control instruction sent by the cockpit through a control path between the cockpit and the vehicle and a time stamp corresponding to the control instruction so that the vehicle can execute the control instruction according to the time stamp.
In a specific implementation, the steps S51-S53 are performed by the vehicle. The vehicle can be provided with a remote driving control module which is responsible for the operation of communication with a remote driving cabin, such as the transceiving of signals.
In a specific implementation process, the steps S51 and S52 may be executed in any order.
In this embodiment, the vehicle can send information requesting remote control to the cockpit to the cloud when remote driving is required, after the cloud forwards the information, the cockpit and the vehicle synchronize control parameters and time, and subsequently transmit control signals between the cockpit and the vehicle and response signals of the control signals or necessary signals for driving of other vehicles through a control path between the cockpit and the vehicle, so that remote control of the cockpit on the vehicle can be realized, and before the cockpit directly controls the vehicle, various necessary signals can be transmitted through the cloud, and safety of the remote control is guaranteed.
In one embodiment, executing the control instructions based on the time stamp includes:
in the case where the number of times the control instruction is continuously discarded due to the timestamp error exceeds the set value, execution of the control instruction is stopped.
In this embodiment, because the timestamp is incorrect, the determining that the corresponding control instruction is received with a delay according to the timestamp, and the timestamp is not in accordance with the current time.
For example, when the current vehicle time is 2:00 and the timestamp of the received control command is a serious advance of 4:00, the timestamp may be determined to be incorrect and the corresponding control command may be discarded.
For example, the current vehicle time is 2:00, and the timestamp corresponding to the received control command is delayed seriously, for example, the set time is delayed, and the set time may specifically be 1 second to 1 hour, in which case, it may be determined that the timestamp is wrong, and the corresponding control command is discarded.
For example, in the implementation process, the advance and delay errors of the timestamp corresponding to the control command may be set, and if the set advance or delay errors are exceeded, the corresponding control command may be discarded.
In particular implementations, the advance error and the delay error may be different.
In one embodiment, the internet of things protocol is adopted for communication between the cloud end and the driving control cabin, between the cloud end and the vehicle and between the driving cabin and the vehicle.
In one example of the disclosure, before transmission and conversion of control commands between a vehicle and a cockpit, the control commands generate initial control parameters (parameters such as a steering wheel, a brake, an accelerator, and a gear) from a cockpit driver, and send the initial control parameters to an IoT cloud Server (Server) in an IoT communication manner. The cloud end is mainly responsible for distributing and forwarding the instructions to the vehicle end corresponding to the cockpit. After the remote module at one end of the vehicle determines that the control right is obtained by the cockpit, the remote module starts to receive the control instruction from the cockpit, then converts the control instruction into an instruction readable by an automatic driving system and sends the instruction to various vehicle control modules, and the vehicle control modules convert the message into a message format and send the message format to the chassis for execution.
As shown in fig. 3, the seat _ process (seat process 32) process of the cockpit (driver _ seat)31 reads driving control parameters through the cockpit U port, the control parameters may specifically include parameters of control components such as a steering wheel, a brake, an accelerator, and a gear, the reading frame rate is 10hz, and an initial control parameter synchronization signal is generated according to the read control parameters. The original initial control parameter synchronization signal is converted according to the message format of control _ cmd on the actual vehicle after being generated at one end of the cockpit 31, and the throttle and idle running speed of the control cabin 31 is reduced by 50% for insurance. The initial control parameter synchronization signal is converted into protomsg, serialized, and sent to the cloud 33 through IoT communication. In general, the cockpit 31 sends an initial control parameter synchronization signal to the cloud when the cockpit 31 and the vehicle 34 are stopped and the throttle and speed are both 0.
Still referring to fig. 3, the cloud 33 receives the initial control parameter synchronization signal sent from one side of the cockpit, then performs transparent transmission, forwards the signal to a specific IoT topic (control path) according to the source of the connection request, and returns the time status of the vehicle 34 to the seat _ process for time calibration.
Still referring to fig. 3, the remote control module (remote _ control) of the vehicle 34 receives the control message, verifies the source and the timestamp of the message, discards the message with too large delay, and if the message is continuously discarded, actively reports the exception to the functional safety module of the vehicle to take over the control authority of the vehicle.
Still referring to fig. 3, after the vehicle 34 obtains the control right, the remote _ control continuously sends a control command to the vehicle chassis control system 35(canbus _ proxy) through a signal transmission channel (channel) inside the vehicle, the frame rate is 10hz, and the vehicle is stopped and then quitted after the completion of the control.
In one example of the present disclosure, a steering wheel is provided to a cockpit, and there is a correspondence between the steering wheel of the cockpit and vehicle control information. In a specific example, a simulator of a Robotic G29 race car may be used, and since the simulator is not identical to the control structure on the car, the mapping of the control buttons on the simulator of the G29 race car may be mapped to specific control functions of the car.
As shown in fig. 6, the specific mapping relationship may include:
l2& L3 correspond to left and right turns of the vehicle, respectively, such as L2 corresponds to right turn and L3 corresponds to left turn;
[ RETURN ] 62 triggers the vehicle to whistle when pressed;
"□" 63 corresponds to the vehicle's D | N | P | R range, such as "□" may correspond to the D range, [ □ ] may correspond to the N range, [ o ] may correspond to the P range, and [ x ] may correspond to the R range;
the steering wheel 64, the throttle and the brake of the simulator are converted into percentage forms, and the simulator can be adapted to vehicles of various vehicle types, wherein the throttle and the brake are not shown in fig. 6;
the buttons of the "share" 65, "[ option" 66, "[ logo" 67 "correspond to different throttle shift ratios, for example, the" share "65 may correspond to a shift reduction ratio of 6," [ option "66 may correspond to a shift reduction ratio of 4, and the" logo "67 may correspond to a shift reduction ratio of 2.
The disclosed embodiment also provides a remote control device, which can be applied to a cockpit, as shown in fig. 7, including:
the control parameter synchronization signal sending module 71 is configured to send an initial control parameter synchronization signal of the cockpit to the vehicle via the cloud in response to the information that the vehicle requests remote control from the cockpit and is forwarded by the cloud, where the initial control parameter synchronization signal is used for synchronization of control parameters between the vehicle and the cockpit;
the time adjustment signal receiving module 72 is configured to receive a time adjustment signal sent by the cloud, and adjust the time of the cockpit according to the time signal, so that the time synchronization between the cockpit and the vehicle is performed;
a control instruction sending module 73, configured to send a control instruction of the cockpit and a timestamp corresponding to the control instruction to the vehicle via a control path between the vehicle and the cockpit, so that the vehicle can execute the control instruction; wherein the timestamp is generated based on the adjusted time of the cockpit.
In one embodiment, as shown in fig. 8, on the basis of fig. 7, the remote control device further includes:
and the verification information sending module 81 is used for sending verification information for taking over the vehicle control right to the cloud end, so that the cloud end can be connected with the control path based on the verification information.
In one embodiment, the initial control parameter synchronization signal is a control parameter of the cockpit, as shown in fig. 9, and on the basis of fig. 7, the control parameter synchronization signal sending module 71 includes:
and the conversion unit 91 is configured to convert the initial control parameter synchronization signal into a format that can be recognized by the vehicle, perform serialization processing, and send the serialized control parameter synchronization signal to the vehicle through the cloud.
In one embodiment, as shown in fig. 10, on the basis of fig. 7, the remote control device further includes:
the backup sending module 101 is configured to send the control instruction and the timestamp to the cloud, so that the control instruction and the timestamp are backed up by the cloud.
In one embodiment, the internet of things protocol is used for communication between the cloud end and the cockpit, between the cloud end and the vehicle and between the cockpit and the vehicle.
The embodiment of the present disclosure further provides a remote control device, which may be applied to a cloud, as shown in fig. 11, including:
a remote control forwarding module 111 for forwarding information that the vehicle requests remote control from the cockpit to the cockpit;
an initial control parameter synchronization signal receiving module 112, configured to receive an initial control parameter synchronization signal sent by the cockpit in response to a message that the vehicle requests remote control from the cockpit;
the initial control parameter synchronization signal forwarding module 113 is configured to send an initial control parameter synchronization signal to the vehicle, and send the initial control parameter synchronization signal to the vehicle, where the initial control parameter synchronization signal is used for synchronization of control parameters between the vehicle and the cockpit;
a time signal receiving module 114, configured to receive a time signal sent by a vehicle;
and a time signal forwarding module 115 for transmitting a time signal to the cockpit, the time signal being used for time synchronization between the cockpit and the vehicle.
In one embodiment, as shown in fig. 12, on the basis of fig. 11, the remote control device further includes:
the verification information receiving module 121 is configured to receive verification information sent by the cockpit for taking over the control right of the vehicle;
and a control path connection module 122 for connecting the control path of the vehicle and the cockpit based on the verification information.
In one embodiment, as shown in fig. 13, on the basis of fig. 11, the remote control device further includes:
the saving module 131 is configured to receive and save the control instruction sent by the cockpit and a timestamp corresponding to the instruction.
In one embodiment, the internet of things protocol is adopted for communication between the cloud end and the driving control cabin, between the cloud end and the vehicle and between the driving cabin and the vehicle.
The embodiment of the present disclosure also provides a remote control device, which may be applied to a vehicle, as shown in fig. 14, including:
the initial control parameter synchronization module 141 is configured to receive an initial control parameter synchronization signal of the cockpit forwarded by the cloud, and synchronize a control parameter with the cockpit according to the initial control parameter synchronization signal, where the initial control parameter synchronization signal of the cockpit is sent by the cockpit in response to information that a vehicle requests remote control from the cockpit;
the time synchronization module 142 is configured to send a time adjustment signal to the cloud, so that the cloud sends the time signal to the cockpit, so that the cockpit performs time synchronization with the vehicle;
and the control module 143 is configured to receive a control instruction sent by the cockpit via a control path between the cockpit and the vehicle and a timestamp corresponding to the control instruction, so that the vehicle can execute the control instruction according to the timestamp.
In one embodiment, as shown in fig. 15, on the basis of fig. 14, the remote control device further includes:
a discarding module 151, configured to stop executing the control instruction if the number of times that the control instruction is continuously discarded due to the timestamp error exceeds a set value.
In one embodiment, the internet of things protocol is adopted for communication between the cloud end and the driving control cabin, between the cloud end and the vehicle and between the driving cabin and the vehicle.
The present disclosure also provides an electronic device and a readable storage medium according to an embodiment of the present disclosure.
In one example of the present disclosure, as shown in fig. 17, a remote control system is provided, which includes a first remote control device provided in a cockpit 171, a second remote control device provided in a cloud 172, and a third remote control device provided in a vehicle 173. The first remote control device may be a remote control device provided in any one of the embodiments of the present disclosure and applied to a cockpit, the second remote control device may be a remote control device provided in any one of the embodiments of the present disclosure and applied to a cloud, and the third remote control device may be a remote control device provided in any one of the embodiments of the present disclosure and applied to a vehicle.
As shown in fig. 16, is a block diagram of an electronic device of a method of information processing according to an embodiment of the present disclosure. Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device may also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be examples only, and are not meant to limit implementations of the disclosure described and/or claimed herein.
As shown in fig. 16, the electronic apparatus includes: one or more processors 1601, memory 1602, and interfaces for connecting components, including a high speed interface and a low speed interface. The various components are interconnected using different buses and may be mounted on a common motherboard or in other manners as desired. The processor may process instructions for execution within the electronic device, including instructions stored in or on the memory to display graphical information of a GUI on an external input/output apparatus (such as a display device coupled to the interface). In other embodiments, multiple processors and/or multiple buses may be used, along with multiple memories and multiple memories, as desired. Also, multiple electronic devices may be connected, with each device providing portions of the necessary operations (e.g., as a server array, a group of blade servers, or a multi-processor system). Fig. 16 illustrates an example of a processor 1601.
The memory 1602, which is a non-transitory computer-readable storage medium, may be used to store non-transitory software programs, non-transitory computer-executable programs, and modules, such as program instructions/modules corresponding to the method of information processing in the embodiment of the present disclosure (for example, the control parameter synchronization signal transmission module 71, the time adjustment signal reception module 72, and the control instruction transmission module 73 shown in fig. 7). The processor 1601 executes various functional applications of the server and data processing, i.e., a method of implementing information processing in the above-described method embodiments, by executing non-transitory software programs, instructions, and modules stored in the memory 1602.
The memory 1602 may include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the stored data area may store data created according to use of the information-processing electronic device, and the like. Further, the memory 1602 may include high-speed random access memory and may also include non-transitory memory, such as at least one magnetic disk storage device, flash memory device, or other non-transitory solid state storage device. In some embodiments, the memory 1602 may optionally include memory located remotely from the processor 1601, which may be connected to an information processing electronic device via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The electronic device of the information processing method may further include: an input device 1603 and an output device 1604. The processor 1601, the memory 1602, the input device 1603, and the output device 1604 may be connected by a bus or other means, which is exemplified in fig. 16.
The input device 1603 may receive input numeric or character information and generate key signal inputs related to user settings and function control of an information-processing electronic apparatus, such as an input device like a touch screen, a keypad, a mouse, a track pad, a touch pad, a pointer, one or more mouse buttons, a track ball, a joystick, etc. The output devices 1604 may include a display device, auxiliary lighting devices (e.g., LEDs), tactile feedback devices (e.g., vibrating motors), and the like. The display device may include, but is not limited to, a Liquid Crystal Display (LCD), a Light Emitting Diode (LED) display, and a plasma display. In some implementations, the display device can be a touch screen.
Various implementations of the systems and techniques described here can be realized in digital electronic circuitry, integrated circuitry, application specific ASICs (application specific integrated circuits), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs that are executable and/or interpretable on a programmable system including at least one programmable processor, which may be special or general purpose, receiving data and instructions from, and transmitting data and instructions to, a storage system, at least one input device, and at least one output device.
These computer programs (also known as programs, software applications, or code) include machine instructions for a programmable processor, and may be implemented using high-level procedural and/or object-oriented programming languages, and/or assembly/machine languages. As used herein, the terms "machine-readable medium" and "computer-readable medium" refer to any computer program product, apparatus, and/or device (e.g., magnetic discs, optical disks, memory, Programmable Logic Devices (PLDs)) used to provide machine instructions and/or data to a programmable processor, including a machine-readable medium that receives machine instructions as a machine-readable signal. The term "machine-readable signal" refers to any signal used to provide machine instructions and/or data to a programmable processor.
To provide for interaction with a user, the systems and techniques described here can be implemented on a computer having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and a pointing device (e.g., a mouse or a trackball) by which a user can provide input to the computer. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic, speech, or tactile input.
The systems and techniques described here can be implemented in a computing system that includes a back-end component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such back-end, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), Wide Area Networks (WANs), and the Internet.
The computer system may include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server can be a cloud server, also called a cloud computing server or a cloud host, and is a host product in a cloud computing service system, so as to solve the defects of high management difficulty and weak service expansibility in the traditional physical host and Virtual Private Server (VPS) service. The server may also be a server of a distributed system, or a server incorporating a blockchain.
According to the technical scheme of the embodiment of the disclosure, parallel driving between the cab and the vehicle can be realized. The embodiment of the disclosure can be applied to the fields of automatic driving and artificial intelligence. The disclosed embodiment transmits the cockpit data to the vehicle through the network in the parallel driving process, converts the cockpit data into an instruction format which can be executed by the vehicle, and sends the instruction format to the vehicle chassis for execution.
When the embodiment of the disclosure is applied to the field of automatic driving, when the automatic driving vehicle encounters difficulties, such as special weather, traffic control and the like, a remote control cabin can be requested to join parallel driving, and the cockpit can be manually operated by an operator with driving experience, so that the accuracy of a driving route is ensured.
When the embodiment of the disclosure is applied to the field of artificial intelligence, the automatic driving vehicle with the artificial intelligence attribute can request a remote cab to perform parallel driving under the situation of dilemma, and the driving reliability can be further ensured while the driving intelligence is ensured.
It should be understood that various forms of the flows shown above may be used, with steps reordered, added, or deleted. For example, the steps described in the present disclosure may be executed in parallel or sequentially or in different orders, and are not limited herein as long as the desired results of the technical solutions disclosed in the present disclosure can be achieved.
The above detailed description should not be construed as limiting the scope of the disclosure. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions may be made in accordance with design requirements and other factors. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present disclosure should be included in the scope of protection of the present disclosure.
Claims (31)
1. A remote control method, comprising:
in response to information, forwarded by a cloud, of a vehicle requesting remote control from a cockpit, sending an initial control parameter synchronization signal of the cockpit to the vehicle via the cloud, the initial control parameter synchronization signal being used for synchronization of control parameters between the vehicle and the cockpit;
receiving a time adjusting signal sent by a cloud end, and adjusting the time of a cockpit according to the time signal so as to enable the cockpit and the vehicle to be time-synchronized;
sending a control instruction of the cockpit and a timestamp corresponding to the control instruction to the vehicle through a control path between the vehicle and the cockpit so that the vehicle can execute the control instruction; wherein the timestamp is generated according to the adjusted time of the cockpit.
2. The method of claim 1, wherein before sending the control command of the cockpit and the timestamp corresponding to the control command to the vehicle, further comprising:
and sending verification information for taking over the vehicle control right to a cloud end, so that the cloud end can be communicated with the control access based on the verification information.
3. The method of claim 1, wherein the initial control parameter synchronization signal is a control parameter of a cockpit, the sending the initial control parameter synchronization signal of the cockpit to the vehicle via the cloud, comprising:
and converting the control parameters into a format which can be recognized by the vehicle, and sending the control parameters to the vehicle through the cloud after the control parameters are subjected to serialization processing.
4. The method of claim 1, wherein after transmitting the control command of the cockpit and the timestamp corresponding to the control command to the vehicle, further comprising:
and sending the control instruction and the timestamp to the cloud end, so that the cloud end backs up the control instruction and the timestamp.
5. The method of any one of claims 1-4, wherein the communication between the cloud and the cockpit, the communication between the cloud and the vehicle, and the communication between the cockpit and the vehicle employ an Internet of things protocol.
6. A remote control method, comprising:
forwarding information that the vehicle requests remote control from the cockpit to the cockpit;
receiving an initial control parameter synchronization signal sent by the cockpit in response to information that the vehicle requests remote control from the cockpit;
transmitting the initial control parameter synchronization signal to a vehicle, the initial control parameter synchronization signal being used for synchronization of control parameters between the vehicle and a cockpit;
receiving a time signal sent by the vehicle;
transmitting the time signal to the cockpit, the time signal being used for time synchronization between the cockpit and the vehicle.
7. The method of claim 6, wherein the method further comprises:
receiving verification information of the control right of the takeover vehicle sent by the cockpit;
and connecting the control channel of the cockpit and the vehicle based on the verification information.
8. The method of claim 6, further comprising:
and receiving and storing a control instruction sent by the cockpit and a timestamp corresponding to the instruction.
9. The method of any one of claims 6-8, wherein the communication between the cloud and a cockpit, the communication between the cloud and a vehicle, and the communication between the cockpit and a vehicle employ an internet of things protocol.
10. A remote control method, comprising:
receiving an initial control parameter synchronization signal of the cockpit forwarded by a cloud end, and synchronizing control parameters with the cockpit according to the initial control parameter synchronization signal, wherein the initial control parameter synchronization signal of the cockpit is sent by the cockpit in response to information that the vehicle requests remote control from the cockpit;
sending a time adjustment signal to the cockpit via the cloud, the time adjustment signal for time synchronization between the cockpit and the vehicle;
and receiving a control instruction sent by a control cabin through a control path between the control cabin and the vehicle and a time stamp corresponding to the control instruction so that the vehicle can execute the control instruction according to the time stamp.
11. The method of claim 10, wherein said executing the control instruction according to the timestamp comprises:
in the event that the number of times a control instruction continues to be discarded because of the timestamp error exceeds a set value, execution of the control instruction is stopped.
12. The method of claim 10 or 11, wherein the communication between the cloud and a cockpit, the communication between the cloud and a vehicle, and the communication between the cockpit and a vehicle employ an internet of things protocol.
13. A remote control device, comprising:
the control parameter synchronization signal sending module is used for responding to information, transmitted by a cloud end, of a vehicle requesting remote control to a cockpit, and sending an initial control parameter synchronization signal of the cockpit to the vehicle through the cloud end, wherein the initial control parameter synchronization signal is used for synchronizing control parameters between the vehicle and the cockpit;
the time adjustment signal receiving module is used for receiving a time adjustment signal sent by the cloud end and adjusting the time of the cockpit according to the time signal so that the time of the cockpit and the time of the vehicle are synchronized;
the control instruction sending module is used for sending a control instruction of the cockpit and a timestamp corresponding to the control instruction to the vehicle through a control path between the vehicle and the cockpit so that the vehicle can execute the control instruction; wherein the timestamp is generated according to the adjusted time of the cockpit.
14. The apparatus of claim 13, wherein the apparatus further comprises:
and the verification information sending module is used for sending verification information for taking over the vehicle control right to a cloud end, so that the cloud end can be communicated with the control access based on the verification information.
15. The apparatus of claim 13, wherein the initial control parameter synchronization signal is a control parameter of a cockpit, and the control parameter synchronization signal transmitting module comprises:
and the conversion unit is used for converting the control parameters into a format which can be recognized by the vehicle, carrying out serialization processing and then sending the control parameters to the vehicle through the cloud.
16. The apparatus of claim 13, wherein the apparatus further comprises:
and the backup sending module is used for sending the control instruction and the timestamp to the cloud end so that the cloud end backs up the control instruction and the timestamp.
17. The apparatus of any one of claims 13-16, wherein the cloud communicates with a cockpit, the cloud communicates with a vehicle, and the cockpit communicates with a vehicle using an internet of things protocol.
18. A remote control device, comprising:
the remote control forwarding module is used for forwarding information that the vehicle requests remote control from the cockpit to the cockpit;
the initial control parameter synchronous signal receiving module is used for receiving an initial control parameter synchronous signal sent by the cockpit in response to the information that the vehicle requests remote control from the cockpit;
the initial control parameter synchronization signal forwarding module is used for sending the initial control parameter synchronization signal to a vehicle and sending the initial control parameter synchronization signal to the vehicle, and the initial control parameter synchronization signal is used for synchronizing control parameters between the vehicle and a cockpit;
the time signal receiving module is used for receiving a time signal sent by the vehicle;
and the time signal forwarding module is used for sending the time signal to the cockpit, and the time signal is used for time synchronization between the cockpit and the vehicle.
19. The apparatus of claim 18, wherein the apparatus further comprises:
the verification information receiving module is used for receiving verification information of the control right of the vehicle taken over sent by the cockpit;
and the control path connecting module is used for connecting the control path of the cockpit and the vehicle based on the verification information.
20. The apparatus of claim 18, further comprising:
and the storage module is used for receiving and storing the control instruction sent by the cockpit and the timestamp corresponding to the instruction.
21. The apparatus of any one of claims 18-20, wherein the cloud communicates with a cockpit, the cloud communicates with a vehicle, and the cockpit communicates with a vehicle using an internet of things protocol.
22. A remote control device, comprising:
the initial control parameter synchronization module is used for receiving an initial control parameter synchronization signal of the cockpit forwarded by a cloud terminal and synchronizing control parameters with the cockpit according to the initial control parameter synchronization signal, wherein the initial control parameter synchronization signal of the cockpit is sent by the cockpit in response to information that the vehicle requests remote control from the cockpit;
a time synchronization module for sending a time adjustment signal to the cockpit via the cloud, the time adjustment signal being used for time synchronization between the cockpit and the vehicle;
the control module is used for receiving a control instruction sent by a control channel between the cockpit and the vehicle and a timestamp corresponding to the control instruction, so that the vehicle can execute the control instruction according to the timestamp.
23. The apparatus of claim 22, wherein the information processing apparatus further comprises:
and the discarding module is used for stopping executing the control instruction when the time for continuously discarding the control instruction due to the timestamp error exceeds a set value.
24. The apparatus of claim 22 or 23, wherein the cloud and the cockpit control cabin, the cloud and the vehicle, and the cockpit and the vehicle communicate using an internet of things protocol.
25. A remote control system comprising:
a first information processing apparatus applied to a cockpit, the information processing apparatus according to any one of claims 13 to 17;
a second information processing apparatus applied to the cloud, which is the information processing apparatus according to any one of claims 18 to 21;
a third information processing apparatus applied to a vehicle, being the information processing apparatus according to any one of claims 22 to 24.
26. An electronic device, comprising:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of any one of claims 1-12.
27. A non-transitory computer readable storage medium having stored thereon computer instructions for causing a computer to perform the method of any one of claims 1-12.
28. A cockpit, comprising:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of any one of claims 1-5.
29. A cloud server, comprising:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of any one of claims 6-9.
30. An autonomous vehicle, comprising:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of any one of claims 10-12.
31. A computer program product comprising a computer program which, when executed by a processor, implements the method according to any one of claims 1-12.
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